#ifndef _PID_H
#define _PID_H

#include "main.h"
#include "tim.h"

void pid_red_x(int x);
void pid_red_y(int y);
void pid_stop(void);

extern uchar flag_run;
extern int val_x,val_y;
extern int x_middle,y_middle,cha;
extern float anglex,angley;
extern float angle_x ,angle_y;
extern float kp_x,ki_x,kd_x,kp_y,ki_y,kd_y;
//void pid_green_x(int x);
//void pid_green_y(int y);
#endif
